ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE > Class Template Reference

Node Canopen Driver. More...

#include <node_canopen_driver.hpp>

Inheritance diagram for ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >:

Collaboration diagram for ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >:

Public Member Functions
	NodeCanopenDriver (NODETYPE *node)
virtual void	set_master (std::shared_ptr< lely::ev::Executor > exec, std::shared_ptr< lely::canopen::AsyncMaster > master)
	Set Master. More...
void	init ()
	Initialise the driver. More...
virtual void	init (bool called_from_base)
	Initialises the driver. More...
void	configure ()
	Configure the driver. More...
virtual void	configure (bool called_from_base)
	Configure the driver. More...
void	activate ()
	Activate the driver. More...
virtual void	activate (bool called_from_base)
	Activates the driver. More...
void	deactivate ()
	Deactivate the driver. More...
virtual void	deactivate (bool called_from_base)
	Deactivates the driver. More...
void	cleanup ()
	Cleanup the driver. More...
virtual void	cleanup (bool called_from_base)
	Cleanup the driver. More...
void	shutdown ()
	Shutdown the driver. More...
virtual void	shutdown (bool called_from_base)
	Shuts down the driver. More...
virtual void	demand_set_master ()
	Demand set Master. More...
Public Member Functions inherited from ros2_canopen::node_interfaces::NodeCanopenDriverInterface
	NodeCanopenDriverInterface ()

Protected Member Functions
virtual void	add_to_master ()
	Add the driver to master. More...
virtual void	remove_from_master ()
	Remove the driver from master. More...

Protected Attributes
NODETYPE *	node_
std::shared_ptr< lely::ev::Executor >	exec_
std::shared_ptr< lely::canopen::AsyncMaster >	master_
std::shared_ptr< lely::canopen::BasicDriver >	driver_
std::chrono::milliseconds	non_transmit_timeout_
YAML::Node	config_
uint8_t	node_id_
std::string	container_name_
std::string	eds_
std::string	bin_
rclcpp::CallbackGroup::SharedPtr	client_cbg_
rclcpp::CallbackGroup::SharedPtr	timer_cbg_
std::atomic< bool >	master_set_
std::atomic< bool >	initialised_
std::atomic< bool >	configured_
std::atomic< bool >	activated_

Detailed Description

template<class NODETYPE>
class ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >

Node Canopen Driver.

This class implements the NodeCanopenDriverInterface. It provides core functionality and logic for CanopenDriver, indepentently of the ROS node type. Currently rclcpp::Node and rclcpp_lifecycle::LifecycleNode and derived classes are supported. Other node types will lead to compile time error.

Template Parameters

NODETYPE

Constructor & Destructor Documentation

NodeCanopenDriver()

template<class NODETYPE >

ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::NodeCanopenDriver ( NODETYPE *  node )

inline

Member Function Documentation

set_master()

template<class NODETYPE >

virtual void ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::set_master ( std::shared_ptr< lely::ev::Executor >  exec, std::shared_ptr< lely::canopen::AsyncMaster >  master  )

inlinevirtual

Set Master.

Sets the Lely Canopen Master Objects needed by the driver to add itself to the master.

Implements ros2_canopen::node_interfaces::NodeCanopenDriverInterface.

init() [1/2]

template<class NODETYPE >

void ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::init ( )

inlinevirtual

Initialise the driver.

In this function the ROS interface should be created and potentially necessary callback groups.

Implements ros2_canopen::node_interfaces::NodeCanopenDriverInterface.

init() [2/2]

template<class NODETYPE >

virtual void ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::init ( bool  called_from_base )

inlinevirtual

Initialises the driver.

This does not do anything, it is an empty function. it should be overridden by derived classes.

Todo:

Potentially make this an abstract function. This is mainly for debugging purposes.

Parameters

called_from_base

Reimplemented in ros2_canopen::node_interfaces::NodeCanopenProxyDriver< NODETYPE >, ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >, and ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >.

configure() [1/2]

template<class NODETYPE >

void ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::configure ( )

inlinevirtual

Configure the driver.

This function should contain the configuration related things, such as reading parameter data or configuration data from files.

This function reads the parameters container_name, non_transmit_timeout, node_id and config. Once done it will call the configure(bool) function that should be over

Implements ros2_canopen::node_interfaces::NodeCanopenDriverInterface.

configure() [2/2]

template<class NODETYPE >

virtual void ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::configure ( bool  called_from_base )

inlinevirtual

Configure the driver.

This function should be overridden by derived classes.

Parameters

called_from_base

Reimplemented in ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >, and ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >.

activate() [1/2]

template<class NODETYPE >

void ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::activate ( )

inlinevirtual

Activate the driver.

This function should activate the driver, consequently it needs to start all timers and threads necessary for the operation of the driver.

Implements ros2_canopen::node_interfaces::NodeCanopenDriverInterface.

activate() [2/2]

template<class NODETYPE >

virtual void ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::activate ( bool  called_from_base )

inlinevirtual

Activates the driver.

This function should be overridden by derived classes.

Parameters

called_from_base

Reimplemented in ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >, and ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >.

deactivate() [1/2]

template<class NODETYPE >

void ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::deactivate ( )

inlinevirtual

Deactivate the driver.

This function should deactivate the driver, consequently it needs to stop all timers and threads that are related to the operation of the diver.

Implements ros2_canopen::node_interfaces::NodeCanopenDriverInterface.

deactivate() [2/2]

template<class NODETYPE >

virtual void ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::deactivate ( bool  called_from_base )

inlinevirtual

Deactivates the driver.

This function should be overridden by derived classes.

Parameters

called_from_base

Reimplemented in ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >, and ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >.

cleanup() [1/2]

template<class NODETYPE >

void ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::cleanup ( )

inlinevirtual

Cleanup the driver.

This function needs to clean the internal state of the driver. This means all data should be deleted.

Implements ros2_canopen::node_interfaces::NodeCanopenDriverInterface.

cleanup() [2/2]

template<class NODETYPE >

virtual void ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::cleanup ( bool  called_from_base )

inlinevirtual

Cleanup the driver.

This function should be overridden by derived classes.

Parameters

called_from_base

Reimplemented in ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >.

shutdown() [1/2]

template<class NODETYPE >

void ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::shutdown ( )

inlinevirtual

Shutdown the driver.

This function should shutdown the driver.

Implements ros2_canopen::node_interfaces::NodeCanopenDriverInterface.

shutdown() [2/2]

template<class NODETYPE >

virtual void ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::shutdown ( bool  called_from_base )

inlinevirtual

Shuts down the driver.

This function should be overridden by derived classes.

Parameters

called_from_base

Reimplemented in ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >.

demand_set_master()

template<class NODETYPE >

virtual void ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::demand_set_master ( )

virtual

Demand set Master.

This function should ask the drivers parent container to set the master objects. This should result in a call to set_master function.

Implements ros2_canopen::node_interfaces::NodeCanopenDriverInterface.

add_to_master()

template<class NODETYPE >

virtual void ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::add_to_master ( )

inlineprotectedvirtual

Add the driver to master.

Implements ros2_canopen::node_interfaces::NodeCanopenDriverInterface.

Reimplemented in ros2_canopen::node_interfaces::NodeCanopen402Driver< NODETYPE >, and ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >.

remove_from_master()

template<class NODETYPE >

virtual void ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::remove_from_master ( )

inlineprotectedvirtual

Remove the driver from master.

Implements ros2_canopen::node_interfaces::NodeCanopenDriverInterface.

Reimplemented in ros2_canopen::node_interfaces::NodeCanopenBaseDriver< NODETYPE >.

Member Data Documentation

node_

template<class NODETYPE >

NODETYPE* ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::node_

protected

exec_

template<class NODETYPE >

std::shared_ptr<lely::ev::Executor> ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::exec_

protected

master_

template<class NODETYPE >

std::shared_ptr<lely::canopen::AsyncMaster> ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::master_

protected

driver_

template<class NODETYPE >

std::shared_ptr<lely::canopen::BasicDriver> ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::driver_

protected

non_transmit_timeout_

template<class NODETYPE >

std::chrono::milliseconds ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::non_transmit_timeout_

protected

config_

template<class NODETYPE >

YAML::Node ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::config_

protected

node_id_

template<class NODETYPE >

uint8_t ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::node_id_

protected

container_name_

template<class NODETYPE >

std::string ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::container_name_

protected

eds_

template<class NODETYPE >

std::string ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::eds_

protected

bin_

template<class NODETYPE >

std::string ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::bin_

protected

client_cbg_

template<class NODETYPE >

rclcpp::CallbackGroup::SharedPtr ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::client_cbg_

protected

timer_cbg_

template<class NODETYPE >

rclcpp::CallbackGroup::SharedPtr ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::timer_cbg_

protected

master_set_

template<class NODETYPE >

std::atomic<bool> ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::master_set_

protected

initialised_

template<class NODETYPE >

std::atomic<bool> ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::initialised_

protected

configured_

template<class NODETYPE >

std::atomic<bool> ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::configured_

protected

activated_

template<class NODETYPE >

std::atomic<bool> ros2_canopen::node_interfaces::NodeCanopenDriver< NODETYPE >::activated_

protected

---

The documentation for this class was generated from the following file:

• /home/runner/work/ros2_canopen/ros2_canopen/canopen_core/include/canopen_core/node_interfaces/node_canopen_driver.hpp